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Net Loss per Share - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2017
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Net Loss Attributable to Non-controlling Interest $ 0 $ (1,000) $ (8,000) $ (16,000) $ (26,000) $ (1,000) $ (50,000)  
Series A Preferred Stock [Member]                
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Accretion of Preferred Stock Deemed Dividend           7,400,000    
Preferred Stock Redemption Discount               $ 6,900,000
Accretion of preferred discount           100,000    
Preferred stock accrued dividends 0   64,000     24,000 189,000  
Series B Preferred Stock [Member]                
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Net Loss Attributable to Non-controlling Interest     100,000     100,000 100,000  
Accretion of Preferred Stock Deemed Dividend     500,000     1,500,000 1,300,000  
Accretion of preferred discount     500,000     1,500,000 1,300,000  
Preferred stock accrued dividends $ 0   $ 519,000     $ 1,496,000 $ 1,315,000  
Convertible to common stock that were excluded from the computations of net loss per common share 0   3,605,217     0 3,605,217  
Equity Option [Member]                
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount         2,460,325 3,997,418    
Warrant [Member]                
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount 3,997,418   2,460,325     6,344,966 18,714,999